Planar And Spatial Gravity Balancing With Normal Springs

Freek L.S. te Riele, Edsko E.G. Hekman, Just L. den Herder

    Research output: Contribution to conferencePosterOther research output

    6 Citations (Scopus)
    1 Downloads (Pure)


    Very often, spring-to-gravity-balancing mechanisms are conceived with ideal (zero-free-length l0 =0) springs. However, the use of ideal springs in the conception phase tends to lead to more complex mechanisms because the ideal spring functionality has to be approximated with normal springs. To facilitate construction of (gravity) balancers, employing normal springs (l0 ≠0) directly mounted between the link attachment points of the mechanism in the conception phase therefore seems beneficiary. This paper discusses spring mechanisms that enable perfect balancing of gravity acting on an inverted pendulum while employing normal springs between the spring-attachment points: The design synthesis of such mechanisms will be explained and balancing conditions will be derived, using a potential energy consideration.
    Original languageEnglish
    Publication statusPublished - 28 Sept 2004
    Event28th Biennial Mechanisms and Robotics Conference 2004 - Salt Lake City, United States
    Duration: 28 Sept 20042 Oct 2004


    Conference28th Biennial Mechanisms and Robotics Conference 2004
    Abbreviated titleDECT
    Country/TerritoryUnited States
    CitySalt Lake City


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